相关论文: Distributed Attack-Resilient Platooning Against Fa…

We propose distributed iterative algorithms for safe control design and safety verification for networked multi-agent systems. These algorithms rely on distributing a control barrier function (CBF) related quadratic programming (QP) problem…

This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the…

A resilient distributed algorithm is proposed to solve the distributed resource allocation problem of a first-order nonlinear multi-agent system who is subject to false data injection (FDI) attacks. An intelligent attacker injects false…

In this work, a modal-based sparse control allocation (CA) is proposed for coordinated and fault-tolerant wide-area damping controllers (WADCs). In our proposed method, the supervisory CA only communicates with necessary actuators to…

Smart grid is a large complex network with a myriad of vulnerabilities, usually operated in adversarial settings and regulated based on estimated system states. In this study, we propose a novel highly secure distributed dynamic state…

This work presents a rigorous analysis of the adverse effects of cyber-physical attacks on discrete-time distributed multi-agent systems, and propose a mitigation approach for attacks on sensors and actuators. First, we show how an attack…

We consider the problem of tracking the state of a process that evolves over time in a distributed setting, with multiple observers each observing parts of the state, which is a fundamental information processing problem with a wide range…

Airborne collision avoidance systems provide an onboard safety net should normal air traffic control procedures fail to keep aircraft separated. These systems are widely deployed and have been constantly refined over the past three decades,…

We demonstrate that a supply-chain level compromise of the adaptive cruise control (ACC) capability on equipped vehicles can be used to significantly degrade system level performance of current day mixed-autonomy freeway networks. Via a…

Balancing passenger demand and vehicle availability is crucial for ensuring the sustainability and effectiveness of urban transportation systems. To address this challenge, we propose a novel hierarchical strategy for the efficient…

This work focuses on eliminating timing-side channels in real-time safety-critical cyber-physical network protocols like Controller Area Networks (CAN). Automotive Electronic Control Units (ECUs) implement predictable scheduling decisions…

For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…

The problem of mitigating maliciously injected signals in interconnected systems is dealt with in this paper. We consider the class of covert attacks, as they are stealthy and cannot be detected by conventional means in centralized…

Rapid transit of emergency vehicles is critical for saving lives and reducing property loss but often relies on surrounding ordinary vehicles to cooperatively adjust their driving behaviors. It is important to ensure rapid transit of…

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…

This paper studies distributed trajectory tracking for networks of nonholonomic mobile robots under adversarial information exchange. An exact global input--output feedback linearization scheme is developed to regulate planar position…

Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…

Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…

This is an extended version of a technical note accepted for publication in IEEE Transactions on Automatic Control. The note proposes an Input to State practically Stable (ISpS) formulation of distributed nonlinear model predictive…

Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…